76 lines
1.9 KiB
Python
Executable File
76 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python3
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import numpy as np
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import matplotlib.pyplot as plt
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from selfdrive.controls.lib.longitudinal_mpc_model import libmpc_py
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libmpc = libmpc_py.libmpc
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dt = 1
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speeds = [6.109375, 5.9765625, 6.6367188, 7.6875, 8.7578125, 9.4375, 10.21875, 11.070312, 11.679688, 12.21875]
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accelerations = [0.15405273, 0.39575195, 0.36669922, 0.29248047, 0.27856445, 0.27832031, 0.29736328, 0.22705078, 0.16003418, 0.15185547]
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ts = [t * dt for t in range(len(speeds))]
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# TODO: Get from actual model packet
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x = 0.0
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positions = []
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for v in speeds:
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positions.append(x)
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x += v * dt
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# Polyfit trajectories
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x_poly = list(map(float, np.polyfit(ts, positions, 3)))
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v_poly = list(map(float, np.polyfit(ts, speeds, 3)))
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a_poly = list(map(float, np.polyfit(ts, accelerations, 3)))
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x_poly = libmpc_py.ffi.new("double[4]", x_poly)
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v_poly = libmpc_py.ffi.new("double[4]", v_poly)
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a_poly = libmpc_py.ffi.new("double[4]", a_poly)
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cur_state = libmpc_py.ffi.new("state_t *")
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cur_state[0].x_ego = 0
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cur_state[0].v_ego = 10
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cur_state[0].a_ego = 0
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libmpc.init(1.0, 1.0, 1.0, 1.0, 1.0)
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mpc_solution = libmpc_py.ffi.new("log_t *")
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libmpc.init_with_simulation(cur_state[0].v_ego)
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libmpc.run_mpc(cur_state, mpc_solution, x_poly, v_poly, a_poly)
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# Converge to solution
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for _ in range(10):
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libmpc.run_mpc(cur_state, mpc_solution, x_poly, v_poly, a_poly)
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ts_sol = list(mpc_solution[0].t)
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x_sol = list(mpc_solution[0].x_ego)
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v_sol = list(mpc_solution[0].v_ego)
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a_sol = list(mpc_solution[0].a_ego)
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plt.figure()
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plt.subplot(3, 1, 1)
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plt.plot(ts, positions, 'k--')
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plt.plot(ts_sol, x_sol)
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plt.ylabel('Position [m]')
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plt.xlabel('Time [s]')
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plt.subplot(3, 1, 2)
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plt.plot(ts, speeds, 'k--')
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plt.plot(ts_sol, v_sol)
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plt.xlabel('Time [s]')
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plt.ylabel('Speed [m/s]')
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plt.subplot(3, 1, 3)
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plt.plot(ts, accelerations, 'k--')
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plt.plot(ts_sol, a_sol)
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plt.xlabel('Time [s]')
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plt.ylabel('Acceleration [m/s^2]')
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plt.show()
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